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Overall, the walking mechanism was a very simple and straight-forward system to produce. Lessons learned from the previous slider-crank mechanism, primarily using multiple bearings per joint-side to increase radial torsional stiffness, were integrated in the first design and no additional significant problems were encountered. After completing assembly of the walking mechanism, body structure, and legsleg structure, we moved on to design and fabrication of the drive system.
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| Part | Source | Quantity |
|---|---|---|
| 3mm steel shaft | generic | ~50mm |
| 5mm steel shaft | generic | ~700mm |
| 5mm precision ground steel shaft | generic | 200mm |
| 3mm x 6mm x 2.5mm ball bearing | generic | 6 pieces |
| 5mm x 9mm x 3mm ball bearing | generic | ~50 pieces |
| M3 x 20mm cap screw | generic | 2 pieces |
| M3 x 30mm cap screw, fully threaded | generic | 1 piece |
| 2in OD cylindrical steel stock | generic | ~1in |
| 5mm x 7mm x 8mm slide bearing | McMaster | 2 pieces |
| 91MXL012 1/8in timing belt | McMaster | 2 pieces |
| 140MXL012 1/8in timing belt | McMaster | 1 piece |
| DC motor | Pololu | 1 piece |
| AA battery pack | Amazon | 1 piece |